/*
 * obstacleavoidance.h
 *
 *  Created on: Nov 13, 2012
 *      Author: robot
 */

#ifndef OBSTACLEAVOIDANCE_H_
#define OBSTACLEAVOIDANCE_H_


#include "ros/ros.h"
#include <behavior/behavior.h>
#include <sensor/IR.h>
#include <driver/Move.h>
#include <SLAM/Location.h>

class ObstacleAvoidance : public Behavior
{
public:
					ObstacleAvoidance 	(ros::NodeHandle n);
	bool 			act 				(ros::Publisher publisher);
	void 			distance_callback 	(const sensor::IR::ConstPtr & msg);
private:
	ros::NodeHandle nodeHandle;
	ros::Subscriber	subscriber;
	float 			frontLeft,
					frontRight,
					leftFront,
					leftBack;
	ros::ServiceClient 	tracker_client;
};


#endif /* OBSTACLEAVOIDANCE_H_ */
